#include <gimbal.h>

Inheritance diagram for GimbalRotationJoint:

Collaboration diagram for GimbalRotationJoint:

Public Member Functions
	GimbalRotationJoint (unsigned int uL, const DofOwner pDO, const StructNode pN1, const StructNode *pN2, const Mat3x3 &R1, const Mat3x3 &R2, const OrientationDescription &od, flag fOut)

virtual	~GimbalRotationJoint (void)

virtual Joint::Type	GetJointType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	Output (OutputHandler &OH) const

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i=0) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

virtual void	SetInitialValue (VectorHandler &)

virtual void	SetValue (DataManager pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints ph=0)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Protected Member Functions
void	AssMat (FullSubMatrixHandler &WM, doublereal dCoef)

void	AssVec (SubVectorHandler &WorkVec, doublereal dCoef)

Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes
const StructNode *	pNode1

const StructNode *	pNode2

const Mat3x3	R1h

const Mat3x3	R2h

Vec3	M

doublereal	dTheta

doublereal	dPhi

OrientationDescription	od

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Joint
enum	Type { UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP, SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION, UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN, AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE, INPLANECONTACT, J_INLINE, ROD, RODBEZIER, DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT, VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION, ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP, DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN, IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL, POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION, TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }

Detailed Description

Definition at line 43 of file gimbal.h.

Constructor & Destructor Documentation

GimbalRotationJoint::GimbalRotationJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	R1,
		const Mat3x3 &	R2,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 43 of file gimbal.cc.

References ASSERT, StructDispNode::GetNodeType(), pNode1, pNode2, and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 pNode1(pN1), pNode2(pN2), R1h(R1), R2h(R2),
 M(Zero3), dTheta(0.), dPhi(0.), od(od)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

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GimbalRotationJoint::~GimbalRotationJoint ( void )

virtual

Definition at line 64 of file gimbal.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void GimbalRotationJoint::AfterPredict	(	VectorHandler &	X,
		VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 175 of file gimbal.cc.

References NO_OP.

 {
         NO_OP;
 }

VariableSubMatrixHandler & GimbalRotationJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 133 of file gimbal.cc.

References AssMat(), DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering GimbalRotationJoint::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 5; iCnt++) {
                 WM.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

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void GimbalRotationJoint::AssMat	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protected

Definition at line 183 of file gimbal.cc.

References FullSubMatrixHandler::Add(), grad::cos(), grad::Cross(), FullSubMatrixHandler::DecCoef(), dPhi, dTheta, StructNode::GetRCurr(), FullSubMatrixHandler::IncCoef(), M, MatCross, pNode1, pNode2, R1h, R2h, grad::sin(), and FullSubMatrixHandler::Sub().

Referenced by AssJac(), and InitialAssJac().

 {
         Mat3x3 Ra(pNode1->GetRCurr()*R1h);
         Mat3x3 Rb(pNode2->GetRCurr()*R2h);
         Mat3x3 RaT(Ra.Transpose());
 
         Mat3x3 R_ab(RaT*Rb);
 
         doublereal dCosTheta = cos(dTheta);
         doublereal dSinTheta = sin(dTheta);
         doublereal dCosPhi = cos(dPhi);
         doublereal dSinPhi = sin(dPhi);
 
         Vec3 w_theta(dSinTheta*dSinPhi, 1. + dCosPhi, -dCosTheta*dSinPhi);
         Vec3 w_phi(dCosTheta, 0., dSinTheta);
 
         Vec3 w_theta_theta(dCosTheta*dSinPhi, 0., dSinTheta*dSinPhi);
         Vec3 w_theta_phi(dSinTheta*dCosPhi, -dSinPhi, -dCosTheta*dCosPhi);
         Vec3 w_phi_theta(-dSinTheta, 0., dCosTheta);
 
         /* coppie */
         /* termini in Delta lambda */
         WM.Add(1, 6 + 1, Ra);
         WM.Sub(3 + 1, 6 + 1, Ra);
 
         /* termini in Delta g_a */
         Vec3 Lambda(Ra*M);
         Mat3x3 MTmp(MatCross, Lambda*dCoef);
         WM.Sub(1, 1, MTmp);
         WM.Add(3 + 1, 1, MTmp);
 
         /* equazioni di vincolo */
         /* termini in Delta g_a, Delta g_b */
         MTmp = RaT*dCoef;
         WM.Add(6 + 1, 1, MTmp);
         WM.Sub(6 + 1, 3 + 1, MTmp);
 
         /* termini in Delta theta */
         Vec3 VTmp(R_ab*w_theta);
         WM.IncCoef(6 + 1, 9 + 1, VTmp(1));
         WM.IncCoef(6 + 2, 9 + 1, VTmp(2));
         WM.IncCoef(6 + 3, 9 + 1, VTmp(3));
 
         WM.IncCoef(9 + 1, 6 + 1, VTmp(1));
         WM.IncCoef(9 + 1, 6 + 2, VTmp(2));
         WM.IncCoef(9 + 1, 6 + 3, VTmp(3));
 
         /* termini in Delta phi */
         VTmp = Vec3(R_ab*w_phi);
         WM.IncCoef(6 + 1, 9 + 2, VTmp(1));
         WM.IncCoef(6 + 2, 9 + 2, VTmp(2));
         WM.IncCoef(6 + 3, 9 + 2, VTmp(3));
 
         WM.IncCoef(9 + 2, 6 + 1, VTmp(1));
         WM.IncCoef(9 + 2, 6 + 2, VTmp(2));
         WM.IncCoef(9 + 2, 6 + 3, VTmp(3));
 
         /* equazione in theta */
         /* termini in Delta g_a, Delta g_b */
         VTmp = (Rb*w_theta).Cross(Lambda*dCoef);
         WM.DecCoef(9 + 1, 1, VTmp(1));
         WM.DecCoef(9 + 1, 2, VTmp(2));
         WM.DecCoef(9 + 1, 3, VTmp(3));
 
         WM.IncCoef(9 + 1, 3 + 1, VTmp(1));
         WM.IncCoef(9 + 1, 3 + 2, VTmp(2));
         WM.IncCoef(9 + 1, 3 + 3, VTmp(3));
 
         /* termine in Delta theta */
         WM.IncCoef(9 + 1, 9 + 1, (Rb*w_theta_theta)*Lambda);
 
         /* termine in Delta phi */
         WM.IncCoef(9 + 1, 9 + 2, (Rb*w_theta_phi)*Lambda);
 
         /* equazione in phi */
         /* termini in Delta g_a, Delta g_b */
         VTmp = (Rb*w_phi).Cross(Lambda*dCoef);
         WM.DecCoef(9 + 2, 1, VTmp(1));
         WM.DecCoef(9 + 2, 2, VTmp(2));
         WM.DecCoef(9 + 2, 3, VTmp(3));
 
         WM.IncCoef(9 + 2, 3 + 1, VTmp(1));
         WM.IncCoef(9 + 2, 3 + 2, VTmp(2));
         WM.IncCoef(9 + 2, 3 + 3, VTmp(3));
 
         /* termine in Delta theta */
         WM.IncCoef(9 + 2, 9 + 1, (Rb*w_phi_theta)*Lambda);
 }

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SubVectorHandler & GimbalRotationJoint::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 275 of file gimbal.cc.

References AssVec(), DEBUGCOUT, dPhi, dTheta, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), M, pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering GimbalRotationJoint::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 5; iCnt++) {
                 WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         M = Vec3(XCurr, iFirstReactionIndex + 1);
         dTheta = XCurr(iFirstReactionIndex + 3 + 1);
         dPhi = XCurr(iFirstReactionIndex + 3 + 2);
 
         AssVec(WorkVec, dCoef);
 
         return WorkVec;
 }

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void GimbalRotationJoint::AssVec	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef
	)

protected

Definition at line 314 of file gimbal.cc.

References VectorHandler::Add(), grad::cos(), VectorHandler::DecCoef(), dPhi, dTheta, StructNode::GetRCurr(), M, pNode1, pNode2, R1h, R2h, RotManip::Rot(), grad::sin(), VectorHandler::Sub(), Mat3x3::Transpose(), and RotManip::VecRot().

Referenced by AssRes(), and InitialAssRes().

 {
         Mat3x3 Ra(pNode1->GetRCurr()*R1h);
         Mat3x3 Rb(pNode2->GetRCurr()*R2h);
 
         Mat3x3 ExpTheta(RotManip::Rot(Vec3(0., dTheta, 0.)));
         Mat3x3 ExpPhi(RotManip::Rot(Vec3(dPhi, 0., 0.)));
 
         doublereal dCosTheta = cos(dTheta);
         doublereal dSinTheta = sin(dTheta);
         doublereal dCosPhi = cos(dPhi);
         doublereal dSinPhi = sin(dPhi);
 
         Vec3 MTmp(Ra*M);
 
         Mat3x3 R_rel(ExpTheta*ExpPhi*ExpTheta);
         Mat3x3 R_ab(Ra.Transpose()*Rb);
 
         WorkVec.Sub(1, MTmp);
         WorkVec.Add(3 + 1, MTmp);
 
         WorkVec.Add(6 + 1, RotManip::VecRot(R_ab*R_rel.Transpose()));
 
         Vec3 w_theta(dSinTheta*dSinPhi, 1. + dCosPhi, -dCosTheta*dSinPhi);
         Vec3 w_phi(dCosTheta, 0., dSinTheta);
 
         WorkVec.DecCoef(9 + 1, (R_ab*w_theta)*M);
         WorkVec.DecCoef(9 + 2, (R_ab*w_phi)*M);
 }

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doublereal GimbalRotationJoint::dGetPrivData ( unsigned int i = 0 ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 459 of file gimbal.cc.

References dPhi, dTheta, M, and MBDYN_EXCEPT_ARGS.

 {
         switch (i) {
         case 1:
         case 2:
         case 3:
                 return M(i);
 
         case 4:
                 return dTheta;
 
         case 5:
                 return dPhi;
         }
 
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

virtual void GimbalRotationJoint::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 149 of file gimbal.h.

References pNode1, and pNode2.

                                                                                       {
                 connectedNodes.resize(2);
                 connectedNodes[0] = pNode1;
                 connectedNodes[1] = pNode2;
         };

virtual DofOrder::Order GimbalRotationJoint::GetDofType ( unsigned int i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 88 of file gimbal.h.

References DofOrder::ALGEBRAIC, ASSERT, and iGetNumDof().

                                                                {
                 ASSERT(i >= 0 && i < iGetNumDof());
                 return DofOrder::ALGEBRAIC;
         };

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virtual DofOrder::Order GimbalRotationJoint::GetEqType ( unsigned int i ) const

inlinevirtual

Reimplemented from SimulationEntity.

Definition at line 93 of file gimbal.h.

References DofOrder::ALGEBRAIC, ASSERT, and iGetNumDof().

                                                               {
                 ASSERT(i >= 0 && i < iGetNumDof());
                 return DofOrder::ALGEBRAIC;
         };

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virtual Joint::Type GimbalRotationJoint::GetJointType ( void ) const

inlinevirtual

Implements Joint.

Definition at line 75 of file gimbal.h.

References Joint::GIMBAL.

                                                    {
                 return GIMBAL;
         };

virtual unsigned int GimbalRotationJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 121 of file gimbal.h.

                                                            { 
                 return 5;
         };

virtual unsigned int GimbalRotationJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 84 of file gimbal.h.

Referenced by GetDofType(), and GetEqType().

                                                     { 
                 return 5;
         };

unsigned int GimbalRotationJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 424 of file gimbal.cc.

 {
         return 5;
 }

unsigned int GimbalRotationJoint::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 430 of file gimbal.cc.

References STRLENOF.

 {
         if (strncmp(s, "lambda[" /*]*/ , STRLENOF("lambda[" /*]*/ )) == 0) {
                 s += STRLENOF("lambda[" /*]*/ );
                 if (strcmp(&s[1], /*[*/ "]") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                 case '2':
                 case '3':
                         return s[0] - '0';
 
                 default:
                         return 0;
                 }
 
         } else if (strcmp(s, "theta") == 0) {
                 return 4;
 
         } else if (strcmp(s, "phi") == 0) {
                 return 5;
         }
 
         return 0;
 }

VariableSubMatrixHandler & GimbalRotationJoint::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 352 of file gimbal.cc.

References AssMat(), DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUT("Entering GimbalRotationJoint::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 5; iCnt++) {
                 WM.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         AssMat(WM, 1.);
 
         return WorkMat;
 }

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SubVectorHandler & GimbalRotationJoint::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 391 of file gimbal.cc.

References AssVec(), DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         DEBUGCOUT("Entering GimbalRotationJoint::InitialAssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici del vettore */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 5; iCnt++) {
                 WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         AssVec(WorkVec, 1);
 
         return WorkVec;
 }

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virtual void GimbalRotationJoint::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 125 of file gimbal.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                   { 
                 *piNumRows = 11; 
                 *piNumCols = 11;
         };

void GimbalRotationJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 86 of file gimbal.cc.

References ToBeOutput::bToBeOutput(), dPhi, dRaDegr, dTheta, EULER_123, EULER_313, EULER_321, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), M, MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Joint::Output(), pNode1, pNode2, R, Mat3x3::Transpose(), RotManip::VecRot(), and Zero3.

 {
         if (bToBeOutput()) {
                 Mat3x3 Ra(pNode1->GetRCurr());
 
                 // TODO: allow to customize orientation description
                 Mat3x3 R(pNode1->GetRCurr().Transpose()*pNode2->GetRCurr());
 
                 std::ostream& out = OH.Joints();
 
                 Joint::Output(out, "Gimbal", GetLabel(),
                                 Zero3, M, Zero3, Ra*M)
                         << " " << dTheta << " " << dPhi << " ";
 
                 switch (od) {
                 case EULER_123:
                         out << MatR2EulerAngles123(R)*dRaDegr;
                         break;
 
                 case EULER_313:
                         out << MatR2EulerAngles313(R)*dRaDegr;
                         break;
 
                 case EULER_321:
                         out << MatR2EulerAngles321(R)*dRaDegr;
                         break;
 
                 case ORIENTATION_VECTOR:
                         out << RotManip::VecRot(R);
                         break;
 
                 case ORIENTATION_MATRIX:
                         out << R;
                         break;
 
                 default:
                         /* impossible */
                         break;
                 }
 
                 out << std::endl;
         }
 }

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std::ostream & GimbalRotationJoint::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 72 of file gimbal.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R2h, Joint::Restart(), and Write().

 {
         Joint::Restart(out) << ", gimbal rotation, "
                 << pNode1->GetLabel() << ", reference, node, 1, ",
                 (R1h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", reference, node, 1, ",
                 (R2h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (R2h.GetVec(2)).Write(out, ", ") << ';' << std::endl;
         return out;
 }

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virtual void GimbalRotationJoint::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 98 of file gimbal.h.

Referenced by AssJac(), and AssRes().

                                                   { 
                 *piNumRows = 11;
                 *piNumCols = 11; 
         };

Member Data Documentation

doublereal GimbalRotationJoint::dPhi

protected

Definition at line 53 of file gimbal.h.

Referenced by AssMat(), AssRes(), AssVec(), dGetPrivData(), and Output().

doublereal GimbalRotationJoint::dTheta

protected

Definition at line 53 of file gimbal.h.

Referenced by AssMat(), AssRes(), AssVec(), dGetPrivData(), and Output().

Vec3 GimbalRotationJoint::M

protected

Definition at line 52 of file gimbal.h.

Referenced by AssMat(), AssRes(), AssVec(), dGetPrivData(), and Output().

OrientationDescription GimbalRotationJoint::od

protected

Definition at line 55 of file gimbal.h.

Referenced by Output().

const StructNode* GimbalRotationJoint::pNode1

protected

Definition at line 47 of file gimbal.h.

Referenced by AssJac(), AssMat(), AssRes(), AssVec(), GetConnectedNodes(), GimbalRotationJoint(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

const StructNode* GimbalRotationJoint::pNode2

protected

Definition at line 48 of file gimbal.h.

Referenced by AssJac(), AssMat(), AssRes(), AssVec(), GetConnectedNodes(), GimbalRotationJoint(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

const Mat3x3 GimbalRotationJoint::R1h

protected

Definition at line 49 of file gimbal.h.

Referenced by AssMat(), AssVec(), and Restart().

const Mat3x3 GimbalRotationJoint::R2h

protected

Definition at line 50 of file gimbal.h.

Referenced by AssMat(), AssVec(), and Restart().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation